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<div class="title">octree.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef _PCL_GPU_OCTREE_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define _PCL_GPU_OCTREE_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/containers/device_array.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/octree/device_format.hpp&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keyword">namespace </span>gpu</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    {   </div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html">   56</a></span>&#160;        <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1gpu_1_1_octree.html">Octree</a></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#aa53266305b1eeffb82a885e2560637a4">   61</a></span>&#160;            <a class="code" href="classpcl_1_1gpu_1_1_octree.html#aa53266305b1eeffb82a885e2560637a4">Octree</a>();</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;           </div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#a5758ce6fbd36ba187c96249e44337f5e">   64</a></span>&#160;            <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#a5758ce6fbd36ba187c96249e44337f5e">~Octree</a>();</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#aaef633c03e07b4ccf653afa6f314be75">   67</a></span>&#160;            <span class="keyword">typedef</span> boost::shared_ptr&lt;Octree&gt; <a class="code" href="classpcl_1_1gpu_1_1_octree.html#aaef633c03e07b4ccf653afa6f314be75">Ptr</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#aefdc3bedd2526f69052cef1541c73019">   70</a></span>&#160;            <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#aefdc3bedd2526f69052cef1541c73019">PointType</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#a2584f9e71b717c8c891415199661a2c3">   73</a></span>&#160;            <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PointType&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#a2584f9e71b717c8c891415199661a2c3">PointCloud</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;            </div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#ace4601c42e12b649d165f7fb8ec23f13">   76</a></span>&#160;            <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PointType&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#ace4601c42e12b649d165f7fb8ec23f13">Queries</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#a8361a7ba440cf6357ccdb0af72d4e7d6">   79</a></span>&#160;            <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;float&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#a8361a7ba440cf6357ccdb0af72d4e7d6">Radiuses</a>;            </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#a6cc45fda594a62506d313e6e0e4fae42">   82</a></span>&#160;            <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;int&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#a6cc45fda594a62506d313e6e0e4fae42">Indices</a>;    </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;            </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#a625a0a28448f3c4a988d914483e2bbc3">   85</a></span>&#160;            <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;float&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#a625a0a28448f3c4a988d914483e2bbc3">ResultSqrDists</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;            </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>*   cloud_;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;            </div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#a95840cd806f83595d79956e72d1c3e20">   90</a></span>&#160;            <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#a95840cd806f83595d79956e72d1c3e20">setCloud</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; cloud_arg);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#ad7d90421b68df2f155aa9119d561c1d4">   93</a></span>&#160;            <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#ad7d90421b68df2f155aa9119d561c1d4">build</a>();</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#aed28b9aacd254a421bacfaf775d03ec5">   96</a></span>&#160;            <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#aed28b9aacd254a421bacfaf775d03ec5">isBuilt</a>();</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#a5a04460da9927a707dcf02699bc77a5b">   99</a></span>&#160;            <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#a5a04460da9927a707dcf02699bc77a5b">internalDownload</a>();</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#aa2ff38af8197107a5ce362df39869f20">  107</a></span>&#160;            <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#aa2ff38af8197107a5ce362df39869f20">radiusSearchHost</a>(<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">PointType</a>&amp; center, <span class="keywordtype">float</span> radius, std::vector&lt;int&gt;&amp; out, <span class="keywordtype">int</span> max_nn = INT_MAX);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#ac41094b3ee693ebcfdaafb050a4026bc">  114</a></span>&#160;            <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#ac41094b3ee693ebcfdaafb050a4026bc">approxNearestSearchHost</a>(<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">PointType</a>&amp; query, <span class="keywordtype">int</span>&amp; out_index, <span class="keywordtype">float</span>&amp; sqr_dist);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#af6ce56dd79bdee021fa71b8a17694d76">  122</a></span>&#160;            <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#af6ce56dd79bdee021fa71b8a17694d76">radiusSearch</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Queries</a>&amp; centers, <span class="keywordtype">float</span> radius, <span class="keywordtype">int</span> max_results, <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; result) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#ad0f2ef1712c6d39b47fe3429ef8bb85e">  130</a></span>&#160;            <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#ad0f2ef1712c6d39b47fe3429ef8bb85e">radiusSearch</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Queries</a>&amp; centers, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Radiuses</a>&amp; radiuses, <span class="keywordtype">int</span> max_results, <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; result) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#a9d3b9a8467137c7898bcf8a63ad69f7e">  139</a></span>&#160;            <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#a9d3b9a8467137c7898bcf8a63ad69f7e">radiusSearch</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Queries</a>&amp; centers, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Indices</a>&amp; indices, <span class="keywordtype">float</span> radius, <span class="keywordtype">int</span> max_results, <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; result) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#a6f8d000384e2c4df3d6fa50a41d922f4">  145</a></span>&#160;            <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#a6f8d000384e2c4df3d6fa50a41d922f4">approxNearestSearch</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Queries</a>&amp; queries, <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; result) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#aea2387c273c96c66ddbc86b2f7093651">  152</a></span>&#160;            <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#aea2387c273c96c66ddbc86b2f7093651">nearestKSearchBatch</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Queries</a>&amp; queries, <span class="keywordtype">int</span> k, <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; results) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_octree.html#a9855f3324f5d796f57d8bb44b640a54d">  155</a></span>&#160;            <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#a9855f3324f5d796f57d8bb44b640a54d">clear</a>();            </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keyword">private</span>:</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;            <span class="keywordtype">void</span> *impl;            </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;            <span class="keywordtype">bool</span> built_;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        };        </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        PCL_EXPORTS <span class="keywordtype">void</span> bruteForceRadiusSearchGPU(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Octree::PointCloud</a>&amp; cloud, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">Octree::PointType</a>&amp; query, <span class="keywordtype">float</span> radius, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;int&gt;</a>&amp; result, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;int&gt;</a>&amp; buffer);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;}</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* _PCL_GPU_OCTREE_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray&lt; PointType &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html">pcl::gpu::Octree</a></div><div class="ttdoc">Octree implementation on GPU. It suppors parallel building and paralel batch search as well .</div><div class="ttdef"><b>Definition:</b> octree.hpp:57</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_a2584f9e71b717c8c891415199661a2c3"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#a2584f9e71b717c8c891415199661a2c3">pcl::gpu::Octree::PointCloud</a></div><div class="ttdeci">DeviceArray&lt; PointType &gt; PointCloud</div><div class="ttdoc">Point cloud supported</div><div class="ttdef"><b>Definition:</b> octree.hpp:73</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_a5758ce6fbd36ba187c96249e44337f5e"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#a5758ce6fbd36ba187c96249e44337f5e">pcl::gpu::Octree::~Octree</a></div><div class="ttdeci">virtual ~Octree()</div><div class="ttdoc">Denstructor.</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_a5a04460da9927a707dcf02699bc77a5b"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#a5a04460da9927a707dcf02699bc77a5b">pcl::gpu::Octree::internalDownload</a></div><div class="ttdeci">void internalDownload()</div><div class="ttdoc">Downloads Octree from GPU to search using CPU fucntion. It use usefull for signle (not-batch) search</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_a625a0a28448f3c4a988d914483e2bbc3"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#a625a0a28448f3c4a988d914483e2bbc3">pcl::gpu::Octree::ResultSqrDists</a></div><div class="ttdeci">DeviceArray&lt; float &gt; ResultSqrDists</div><div class="ttdoc">Point Sqrt distances array type</div><div class="ttdef"><b>Definition:</b> octree.hpp:85</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_a6cc45fda594a62506d313e6e0e4fae42"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#a6cc45fda594a62506d313e6e0e4fae42">pcl::gpu::Octree::Indices</a></div><div class="ttdeci">DeviceArray&lt; int &gt; Indices</div><div class="ttdoc">Point Indices for batch query</div><div class="ttdef"><b>Definition:</b> octree.hpp:82</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_a6f8d000384e2c4df3d6fa50a41d922f4"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#a6f8d000384e2c4df3d6fa50a41d922f4">pcl::gpu::Octree::approxNearestSearch</a></div><div class="ttdeci">void approxNearestSearch(const Queries &amp;queries, NeighborIndices &amp;result) const</div><div class="ttdoc">Batch approximate nearest search on GPU</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_a8361a7ba440cf6357ccdb0af72d4e7d6"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#a8361a7ba440cf6357ccdb0af72d4e7d6">pcl::gpu::Octree::Radiuses</a></div><div class="ttdeci">DeviceArray&lt; float &gt; Radiuses</div><div class="ttdoc">Point Radiuses for batch query</div><div class="ttdef"><b>Definition:</b> octree.hpp:79</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_a95840cd806f83595d79956e72d1c3e20"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#a95840cd806f83595d79956e72d1c3e20">pcl::gpu::Octree::setCloud</a></div><div class="ttdeci">void setCloud(const PointCloud &amp;cloud_arg)</div><div class="ttdoc">Sets cloud for which octree is built</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_a9855f3324f5d796f57d8bb44b640a54d"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#a9855f3324f5d796f57d8bb44b640a54d">pcl::gpu::Octree::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Desroys octree and release all resources</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_a9d3b9a8467137c7898bcf8a63ad69f7e"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#a9d3b9a8467137c7898bcf8a63ad69f7e">pcl::gpu::Octree::radiusSearch</a></div><div class="ttdeci">void radiusSearch(const Queries &amp;centers, const Indices &amp;indices, float radius, int max_results, NeighborIndices &amp;result) const</div><div class="ttdoc">Performs batch radius search on GPU</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_aa2ff38af8197107a5ce362df39869f20"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#aa2ff38af8197107a5ce362df39869f20">pcl::gpu::Octree::radiusSearchHost</a></div><div class="ttdeci">void radiusSearchHost(const PointType &amp;center, float radius, std::vector&lt; int &gt; &amp;out, int max_nn=INT_MAX)</div><div class="ttdoc">Performs search of all points wihtin given radius on CPU. It call internalDownload if nessesary</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_aa53266305b1eeffb82a885e2560637a4"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#aa53266305b1eeffb82a885e2560637a4">pcl::gpu::Octree::Octree</a></div><div class="ttdeci">Octree()</div><div class="ttdoc">Default constructor.</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_aaef633c03e07b4ccf653afa6f314be75"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#aaef633c03e07b4ccf653afa6f314be75">pcl::gpu::Octree::Ptr</a></div><div class="ttdeci">boost::shared_ptr&lt; Octree &gt; Ptr</div><div class="ttdoc">Types</div><div class="ttdef"><b>Definition:</b> octree.hpp:67</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_ac41094b3ee693ebcfdaafb050a4026bc"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#ac41094b3ee693ebcfdaafb050a4026bc">pcl::gpu::Octree::approxNearestSearchHost</a></div><div class="ttdeci">void approxNearestSearchHost(const PointType &amp;query, int &amp;out_index, float &amp;sqr_dist)</div><div class="ttdoc">Performs approximate neares neighbor search on CPU. It call internalDownload if nessesary</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_ace4601c42e12b649d165f7fb8ec23f13"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#ace4601c42e12b649d165f7fb8ec23f13">pcl::gpu::Octree::Queries</a></div><div class="ttdeci">DeviceArray&lt; PointType &gt; Queries</div><div class="ttdoc">Point Batch query cloud type</div><div class="ttdef"><b>Definition:</b> octree.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_ad0f2ef1712c6d39b47fe3429ef8bb85e"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#ad0f2ef1712c6d39b47fe3429ef8bb85e">pcl::gpu::Octree::radiusSearch</a></div><div class="ttdeci">void radiusSearch(const Queries &amp;centers, const Radiuses &amp;radiuses, int max_results, NeighborIndices &amp;result) const</div><div class="ttdoc">Performs batch radius search on GPU</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_ad7d90421b68df2f155aa9119d561c1d4"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#ad7d90421b68df2f155aa9119d561c1d4">pcl::gpu::Octree::build</a></div><div class="ttdeci">void build()</div><div class="ttdoc">Performs parallel octree building</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_aea2387c273c96c66ddbc86b2f7093651"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#aea2387c273c96c66ddbc86b2f7093651">pcl::gpu::Octree::nearestKSearchBatch</a></div><div class="ttdeci">void nearestKSearchBatch(const Queries &amp;queries, int k, NeighborIndices &amp;results) const</div><div class="ttdoc">Batch exact k-nearest search on GPU for k == 1 only!</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_aed28b9aacd254a421bacfaf775d03ec5"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#aed28b9aacd254a421bacfaf775d03ec5">pcl::gpu::Octree::isBuilt</a></div><div class="ttdeci">bool isBuilt()</div><div class="ttdoc">Returns true if tree has been built</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_aefdc3bedd2526f69052cef1541c73019"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#aefdc3bedd2526f69052cef1541c73019">pcl::gpu::Octree::PointType</a></div><div class="ttdeci">pcl::PointXYZ PointType</div><div class="ttdoc">Point typwe supported</div><div class="ttdef"><b>Definition:</b> octree.hpp:70</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_af6ce56dd79bdee021fa71b8a17694d76"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#af6ce56dd79bdee021fa71b8a17694d76">pcl::gpu::Octree::radiusSearch</a></div><div class="ttdeci">void radiusSearch(const Queries &amp;centers, float radius, int max_results, NeighborIndices &amp;result) const</div><div class="ttdoc">Performs batch radius search on GPU</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_neighbor_indices_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_neighbor_indices.html">pcl::gpu::NeighborIndices</a></div><div class="ttdef"><b>Definition:</b> device_format.hpp:47</div></div>
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